CN106249253A - Low rail communication and navigation strengthen the Optimization Design of hybrid constellation - Google Patents
Low rail communication and navigation strengthen the Optimization Design of hybrid constellation Download PDFInfo
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- CN106249253A CN106249253A CN201610576713.1A CN201610576713A CN106249253A CN 106249253 A CN106249253 A CN 106249253A CN 201610576713 A CN201610576713 A CN 201610576713A CN 106249253 A CN106249253 A CN 106249253A
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18528—Satellite systems for providing two-way communications service to a network of fixed stations, i.e. fixed satellite service or very small aperture terminal [VSAT] system
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Abstract
The present invention provides a kind of low rail communication and navigation to strengthen the Optimization Design of hybrid constellation, comprises determining that satellite orbit type；Determine satellite orbital altitude；Determine the minimum observation elevation angle；Choose constellation configuration；Determine orbit inclination angle；Determine number of satellite；Determine orbital plane number and phase factor；The initial right ascension of ascending node of optimum option；Analyze low rail communication and the covering performance of navigation enhancing hybrid constellation；The traversal hybrid constellation parameter that after terminating, the most all satisfied designs require, selects optimal solution.Advantage is: combining communicates and navigate strengthens the factor that each stage of Constellation Design needs consider, can be designed that and meets user's request, constellation performance is excellent, number of satellite is few and has the low rail communication of preferable compatible interoperation ability and the enhancing hybrid constellation that navigates between constellation.
Description
Technical field
The invention belongs to hybrid constellation design optimizing field, be specifically related to a kind of low rail communication and navigation strengthens mixing
The Optimization Design of constellation.
Background technology
Satellite communication system is divided into district system and global system according to its coverage condition.At present, satellite is utilized to realize complete
Ball real-time Communication for Power has two schemes: (1) utilizes 3 (or more than 3) GEO satellite substantially to realize global real-time communication.(2) utilize
The global constellation of MEO, LEO satellite composition realizes global communication.MEO satellite height is at about 20000km, and LEO satellite height exists
Between 700～1500km.The constellation being made up of a number of MEO, LEO satellite can be that the whole world provides continual the most logical
Letter, as IRIDIUM constellation is made up of the satellite of 66 height about 780km, satellite distribution is in 6 orbital planes；Whole world galaxy
System constellation is made up of the satellite of 48 height about 1414km, and satellite distribution is on 8 orbit planes, and two kinds of systems can be real
Existing global real-time communication.
Satellite navigation system can provide the user in the world round-the-clock, continuously accurate position, speed and
Temporal information, has huge military affairs and economic benefit, causes the extensive concern of countries in the world.At present the most in-orbit and provide
The navigation constellation of service includes: the GPS system of the U.S., Muscovite GLONASS system and the Beidou satellite navigation system of China.
Currently build in navigation constellation include: the Galileo system of European Union, India IRNSS area navigation satellite system with
And the QZSS quasi-zenith satellite navigation system of Japan.
Low rail communication and navigation strengthen the process that design is a constellation parameter multiple-objection optimization that optimizes of hybrid constellation, logical
Cross optimization design, make service area obtain optimum constellation performance, meet the constraint of cost and performance.Set at current navigation constellation
In meter, it is considered to edge-restraint condition be mainly the covering performance of constellation, navigation accuracy etc., such as " use the low of genetic algorithm
Rail area communication Constellation Design " (Li Sudan etc., communicate journal, the 8th phase of volume 26 in August, 2005), " multimedia LEO satellite communications
System constellation design and performance simulation " (Liu Shaokui etc., global positioning system, the 3rd phase of volume 39 in June, 2014), " satellite constellation
Cooperative Optimization is studied " (Chang Hui, Central China University of Science and Technology Ph.D. Dissertation, in December, 2012), " non-geo satellite star
Seat design and interspace link research " (Wu Tingyong, University of Electronic Science and Technology Ph.D. Dissertation, in January, 2008), " non-geostationary orbit
Satellite mobile communication system network key technical research " (Liu Gang, University of Electronic Science and Technology Ph.D. Dissertation, in December, 2003),
" multi layer satellite communication networks structure design and analysis " (Xiao Nan etc., modern defense technology, the 3rd phase of volume 40 in June, 2012),
" Satellite Network Routing Algorithms based on LEO pole orbit constellation research " (Duan Sirui, Beijing University of Post & Telecommunication Ph.D. Dissertation,
In June, 2014), " research of satellite constellation Integrated optimization design " (model is beautiful, National University of Defense Technology Ph.D. Dissertation,
In March, 2006), " Satellite Constellation Design based on genetic algorithm " (Zeng Yujiang, Central China University of Science and Technology Ph.D. Dissertation, 2007
Year April), " model trajectory during Near Earth Orbit Satellites Constellation Design " (white crane peak etc., National University of Defense technology's journal, 1999 years the
Volume 21, the 2nd phase).Existing low rail communication satellite constellation and navigation constellation major part are and separately design, the boundary constraint that method is considered
Condition limited amount, causes designed constellation service behaviour limited, and leads to for utilizing low rail constellation to carry out satellite simultaneously
In letter and enhancing, the research of rail navigational satellite system is less, lacks the hybrid constellation Optimization Design under this special applications.
Summary of the invention
The defect existed for prior art, the present invention provides a kind of low rail communication and navigation to strengthen the optimization of hybrid constellation
Method for designing, strengthens in hybrid constellation design process in low rail communication and navigation, it is also contemplated that two satellite constellations in hybrid constellation
Compatibility, the problem such as initial right ascension of ascending node selection, the constellation thus designed has preferable service behaviour, it is possible to simultaneously full
The demand of rail navigational satellite system in foot multimedia LEO satellite communications and enhancing.
The technical solution used in the present invention is as follows:
The present invention provides a kind of low rail communication and navigation to strengthen the Optimization Design of hybrid constellation, comprises the following steps:
Step 1: the satellite orbit type determining each satellite in hybrid constellation is circuit orbit, its eccentric ratio e=0, closely
Argument ω=0, place；
Step 2: primarily determine that satellite orbital altitude, including:
Step 2.1: determine the first of each satellite the alternative Trajectory Sets in hybrid constellation；Wherein, the first alternative track collection
It is combined into the orbit altitude scope meeting design requirement；
Step 2.2: further preferred to the first alternative Trajectory Sets, obtains second be made up of several orbit altitude values
Alternative Trajectory Sets；
According to user's request, step 3: consider the observation barrier factors that local landform causes, determines that minimum observation is faced upward
Angle；
Step 4: judge the impact the need of consideration precession in hybrid constellation design process, when needs consider precession impact
Time, according to the condition that precessional evlocity is identical, determine that hybrid constellation is configured as two Walker constellation mixing, then perform step 5；
When affecting without the concern for precession, determine that hybrid constellation is configured as Walker constellation and SSO (Sun Synchronous Orbit) constellation, then hold
Row step 6；
Step 5: according to the demand of user's service area latitude and determined by hybrid constellation configuration, selected orbit inclination angle model
Enclose；
The orbit altitude scope of the first alternative Trajectory Sets is pressed predetermined interval, and orbit inclination angle scope sets according to user's request
Fixed, in the range of this orbit altitude scope and orbit inclination angle, calculate the orbital plane under different orbit inclination angle and orbit altitude respectively
Precessional evlocity, selects some groups of orbit altitude values and orbit inclination angle value that precessional evlocity is identical；
For the selected some groups of orbit altitude values arrived and orbit inclination angle value, preferentially choose orbit altitude value and belong to or connect
Some groups of regression orbit height values of nearly second alternative Trajectory Sets and corresponding orbit inclination angle value；If it is alternative not meet second
The orbit altitude value of Trajectory Sets, does not the most consider the second alternative Trajectory Sets；Then step 7 is performed；
Step 6: according to the demand of user's service area latitude and determined by hybrid constellation configuration, selected orbit inclination angle model
Enclose；Preferentially choose orbit altitude value to belong to or close to some groups of regression orbit height values of the second alternative Trajectory Sets；Then hold
Row step 7；
Step 7: determine the number of satellite scope that in hybrid constellation, each constellation comprises；
Step 8: determine orbital plane number and phase factor scope；Particularly as follows: the number of satellite scope determined with step 7 is for
Know value, select orbital plane number and the phase factor scope of covering performance optimum；
Step 9: be separately optimized the initial right ascension of ascending node scope of each constellation in hybrid constellation of choosing；Concrete optimization method
For: utilize genetic algorithm optimization to choose the initial right ascension of ascending node scope of each constellation in hybrid constellation；
Step 10: when considering that precession affects, employing following methods optimum option:
Determine the satellite orbit type of each hybrid constellation, the minimum observation elevation angle, number of satellite scope, orbital plane number with
Phase factor scope, initial right ascension of ascending node scope and some compositions to orbit altitude value and orbit inclination angle value；Then:
By predetermined interval, to the minimum observation elevation angle, number of satellite scope, orbital plane number and phase factor scope, initially rise
Intersection point right ascension scope and some compositions to orbit altitude value and orbit inclination angle value be optimized and choose, calculate often to assemble and put
Low rail communication corresponding to the hybrid constellation parameter obtained and the covering performance of navigation enhancing hybrid constellation；
At the end of optimum option, perform step 11；
When not considering that precession affects, employing following methods optimum option:
Determine the satellite orbit type of each hybrid constellation, the minimum observation elevation angle, number of satellite scope, orbital plane number with
Phase factor scope, initial right ascension of ascending node scope, the second alternative Trajectory Sets and orbit inclination angle scope；Then:
By predetermined interval, to the minimum observation elevation angle, number of satellite scope, orbital plane number and phase factor scope, initially rise
Intersection point right ascension scope, the second alternative Trajectory Sets and orbit inclination angle scope are optimized and choose, and calculate often to assemble and put obtain mixed
Close the low rail communication corresponding to constellation parameter and the covering performance of navigation enhancing hybrid constellation；
At the end of optimum option, perform step 11；
Step 11: select the hybrid constellation parameter that hybrid constellation covering performance is optimum, the mixing obtained as final design
Constellation parameter value.
Preferably, in step 2.1, the first alternative Trajectory Sets designs by the following method and obtains:
Screen alternative track according to space radiation environment impact, obtain meeting the first alternative rail setting orbit altitude scope
Road set.
Preferably, space radiation environment impact include: radiation belt of the earth Van Allen belt, inner radiation belt a1 ∈ [2000,
8000] km and outer radiation belt a2 ∈ [15000,20000] km；For avoiding the interference of Van Allen belt, and the constellation of design is low rail
Constellation, determined by the first alternative Trajectory Sets be satellite orbital altitude scope be the set of 700～1500km.
Preferably, in step 2.2, the first alternative Trajectory Sets is screened further, obtain by several orbit altitude values
Second alternative Trajectory Sets of composition, particularly as follows:
Return characteristic and avoid resoance orbit requirement that the first alternative Trajectory Sets is screened further according to track, obtain the
Two alternative Trajectory Sets.
Preferably, return characteristic according to track and avoid resoance orbit requirement that the first alternative Trajectory Sets is sieved further
Choosing, obtains the second alternative Trajectory Sets, particularly as follows:
Step 2.2.1, the recurrence condition estimation of utilization obtains recurrence number of turns n of satellite, including:
Step 2.2.1.1, according to Kepler's theorem, can obtain T satellite periodsWith orbit altitude a relation it is
Wherein, earth radius Re=6378.137km, Gravitational coefficient of the Earth μ=398601.58km3/s2；
Step 2.2.1.2, the first alternative Trajectory Sets that step 2.1 determines is orbit altitude scope, substitutes into formula (2),
So that it is determined that T satellite periodsScope；
Step 2.2.1.3, according to T satellite periodsWith earth rotation period TeRelation, i.e. formula (3), can obtain
Span to k/n；
Ts/Te=k/n (3)
Wherein:
K is for returning natural law；
N is for returning the number of turns；
TsFor satellite period；
TeFor earth rotation period, Te=86164s；
Step 2.2.1.4, arbitrarily chooses the value of k, can be calculated the span of n, owing to k and n is integer, because of
This can obtain several values of n；
Step 2.2.2, for the value of multiple n that the value of k chosen and correspondence obtain, is performed both by following operation:
Step 2.2.2.1, returns the value of the k chosen and the value inverse iteration of n to formula (3), obtains T satellite periods；
Step 2.2.2.2, by T satellite periodsSubstitute into formula (2), be calculated satellite orbital altitude a；
Therefore, choose the value of each group of k and the value of n, all can get the value of a satellite orbital altitude a；Different k's
The value of the n of value and correspondence can be calculated multiple satellite orbital altitude, and it is alternative that multiple regression orbit height i.e. form second
Trajectory Sets.
Preferably, in step 5, below equation is used to calculate the precessional evlocity in each orbit inclination angle lower railway face:
Constellation orbital face precessional evlocity；
The angular velocity of satellite on n constellation orbital；
J2Humorous term coefficient J of second order band of perturbation of earths gravitational field2=1.0826 × 10-3；
The eccentricity of satellite on e constellation orbital；
ReEarth radius；
The orbit altitude of satellite on a constellation orbital, the orbit altitude determined for step 2；
The orbit inclination angle of satellite on i constellation orbital.
Low rail communication and the Optimization Design of navigation enhancing hybrid constellation that the present invention provides have the advantage that
(1) in the selection course of constellation orbital height and orbit inclination angle, function and the star of hybrid constellation has been considered
The precession characteristic of seat, makes two constellations in the hybrid constellation of design have identical orbital plane precessional evlocity, thus improves constellation
Between compatibility, enable two constellation collaborative works, realize communication simultaneously and navigation strengthens two kinds of functions.
(2) Constellation Design method and constellation initial right ascension of ascending node Optimization Design have been the present invention relates to, in conjunction with logical
Letter and navigation strengthen the factor that each stage of Constellation Design needs to consider, can be designed that meet user's request, constellation performance excellent,
Number of satellite is few and has low rail communication and the navigation enhancing hybrid constellation of preferable compatible interoperation ability between constellation.
Accompanying drawing explanation
Low rail communication and the flow process of the engineering design method of navigation enhancing hybrid constellation that Fig. 1 provides for the present invention are illustrated
Figure；
Fig. 2 is the satellite covering schematic diagram to ground；
Fig. 3 is earth central angle two-dimensional representation；
Fig. 4 is earth central angle schematic three dimensional views；
Fig. 5 is S > 2 λmaxThe coverage condition schematic diagram of adjacent two satellites of Shi Tongyi orbital plane；
Fig. 6 is S < 2 λmaxThe coverage condition schematic diagram of adjacent two satellites of Shi Tongyi orbital plane；
Fig. 7 is SSO (Sun Synchronous Orbit) constellation configuration schematic diagram (observing from arctic point).
Detailed description of the invention
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearer, below in conjunction with
Drawings and Examples, are further elaborated to the present invention.Should be appreciated that specific embodiment described herein only in order to
Explain the present invention, be not intended to limit the present invention.
In conjunction with Fig. 1, the present invention provide a kind of low rail communication and navigation strengthen hybrid constellation Optimization Design, including with
Lower step:
Step 1: the satellite orbit type determining each satellite in hybrid constellation is circuit orbit, its eccentric ratio e=0, closely
Argument ω=0, place；
Concrete, owing to height, the velocity variations of circuit orbit Satellite track are the least, as the satellite of navigator fix
It it is the most often circuit orbit.Due to by J2The impact of perturbation, when the orbit inclination angle of low rail constellation is not 64.43 ° or 116.57 °
Time, elliptic orbit will produce apsis drift, only use and middle high latitude area, and coverage is less, it is impossible to enough realizes the whole world and covers
Lid.Therefore the present invention chooses hybrid constellation is circuit orbit, eccentric ratio e=0, argument of perigee ω=0.
Step 2: primarily determine that satellite orbital altitude, including:
Step 2.1: determine the first of each satellite the alternative Trajectory Sets in hybrid constellation；Wherein, the first alternative track collection
It is combined into the orbit altitude scope meeting design requirement；
Concrete, the first alternative Trajectory Sets designs by the following method and obtains:
Screen alternative track according to space radiation environment impact, obtain meeting the first alternative rail setting orbit altitude scope
Road set.
Space radiation environment impact includes: radiation belt of the earth Van Allen belt, inner radiation belt a ∈ [2000,8000] km are with outer
Radiation zone a ∈ [15000,20000] km；For avoiding the interference of Van Allen belt, in the first alternative Trajectory Sets determined by S2.1,
Each satellite orbital altitude scope is 700～1500km.
Step 2.2: further preferred to the first alternative Trajectory Sets, obtains second be made up of several orbit altitude values
Alternative Trajectory Sets；
For the ease of orbits controlling and the long-term behaviour analysis of constellation of satellite, from application angle, it is desirable to Satellite
The lower locus of points has cycle repeatability, and Constellation Design is generally selected use regression orbit, i.e. satellite period and earth rotation
Cycle becomes ratio of integers.
This step is particularly as follows: return characteristic according to track and avoid resoance orbit requirement that the first alternative Trajectory Sets is entered one
Step screening, obtains the second alternative Trajectory Sets, including:
Step 2.2.1, the recurrence condition estimation of utilization obtains recurrence number of turns n of satellite, including:
Step 2.2.1.1, according to Kepler's theorem, can obtain T satellite periodsWith orbit altitude a relation it is
Wherein, earth radius Re=6378.137km, Gravitational coefficient of the Earth μ=398601.58km3/s2；
Step 2.2.1.2, the first alternative Trajectory Sets that step 2.1 determines is orbit altitude scope, it may be assumed that 700～
1500km, substitutes into formula (2), so that it is determined that T satellite periodsScope；
Step 2.2.1.3, according to T satellite periodsWith earth rotation period TeRelation, i.e. formula (3), can obtain
Span to k/n；
Ts/Te=k/n (3)
Wherein:
K is for returning natural law；
N is for returning the number of turns；
TsFor satellite period；
TeFor earth rotation period, Te=86164s；
Step 2.2.1.4, arbitrarily chooses the value of k, can be calculated the span of n, owing to k and n is integer, because of
This can obtain several values of n；
Step 2.2.2, for the value of multiple n that the value of k chosen and correspondence obtain, is performed both by following operation:
Step 2.2.2.1, returns the value of the k chosen and the value inverse iteration of n to formula (3), obtains T satellite periods；
Step 2.2.2.2, by T satellite periodsSubstitute into formula (2), be calculated satellite orbital altitude a；
Therefore, choose the value of each group of k and the value of n, all can get the value of a satellite orbital altitude a；Different k's
The value of the n of value and correspondence can be calculated multiple satellite orbital altitude, and it is alternative that multiple regression orbit height i.e. form second
Trajectory Sets.
See table 1, for the parameter of calculated one group low rail constellation regression orbit:
Table 1 low rail constellation regression orbit parameter
| Return natural law/sidereal day | Return the number of turns/circle | Orbit altitude/km |
| 1 | 12,13,14 | 1666,1261,893 |
| 2 | 25,27,29 | 1461,1070,725 |
| 3 | 38,40,41,43 | 1381,1121,998,768 |
According to user's request, step 3: consider the observation barrier factors that local landform causes, determines that minimum observation is faced upward
Angle；
Coverage is along with maximum earth central angle λmaxChange be Discrete Change, and with minimum observe elevation angle εminWith
Orbit altitude is relevant；Area coverage increases along with the elevation angle and reduces, and the number of satellite causing needs is increased by significantly；If
εminDetermine, then orbit altitude reduce, covering performance will arrive a limit, it is necessary to increase an orbital plane and n defend
Star improves covering performance；Consider the factors such as the observation obstacle that local landform causes, determine minimum according to the demand of user
The observation elevation angle.
Step 4: judge the impact the need of consideration precession in hybrid constellation design process, when needs consider precession impact
Time, according to the condition that precessional evlocity is identical, determine that hybrid constellation is configured as two Walker constellation mixing, then perform step 5；
When affecting without the concern for precession, determine that hybrid constellation is configured as Walker constellation and SSO (Sun Synchronous Orbit) constellation, then hold
Row step 6；
Concrete, classification of track has a variety of, such as Walker δ constellation；There is the SSO (Sun Synchronous Orbit) constellation in gap；Equatorial orbit star
Seat；Supplementing of equatorial orbit constellation；Elliptic orbit etc..The configuration of constellation determines the relation of covering performance and height etc., selects
During configuration, main it is considered that covering performance.Owing to the design is to design low rail communication and the mixing star of navigation enhancing
Seat, therefore main consideration SSO (Sun Synchronous Orbit) constellation and Walker constellation in method for designing.
(1) SSO (Sun Synchronous Orbit) constellation
SSO (Sun Synchronous Orbit) constellation be one highly effective, can allow for again adjacent satellite have covering overlap.But, SSO (Sun Synchronous Orbit) constellation has two
The shortcoming of individual principle: first, it is asymmetric relative to position that the covering vacancy of constellation causes covering with satellite, therefore, in phase
The satellite of both sides, region asymmetric to position must be different from the motor pattern of the satellite of other positions in constellation.Second, pole
The rail constellation covering performance in region, polar region is best, but these area few people or equipment need the service of satellite constellation；
In contrast, the covering performance of the more Situations Over of demand is poor.It would therefore be desirable to research can improve in polar region
The method excessively covering this situation in territory, so that the covering performance of Situations Over increases.
Another key features track collision problem in limit of constellation can also be drawn by Fig. 7.A lot of existing
The method that constellation in reality takes cross point is launched carrys out collision free.Intersatellite collision is a problem, but, for
Circuit orbit, this problem is more serious than in SSO (Sun Synchronous Orbit) constellation configuration.Each circuit orbit and another circuit orbit
Intersect twice.No matter these intersect is that a lot of track intersects at limit simultaneously, or launches in the whole world, the most inessential.Really
It is important that the probability that collision occurs in pairs, and this is solely dependent upon the rail junction of generation in pairs.Therefore, if satellite orbit
Number number total with satellite is identical, and the configuration of all constellations has identical collision probability.
(2) Walker constellation
Walker constellation is configuration the most symmetrical in constellation configuration.This constellation is most commonly used that Walker Delta star
Seat, this configuration includes T satellite, P orbital plane, each orbital plane is uniformly distributed S satellite.All of orbital plane is relative
Identical orbit inclination angle i is had in equator.(for different Constellation Design purposes, reference plane can not be the equator of the earth
Face, but, in view of the orbit inclination angle relative to the equatoriat plane, therefore these most practical reference plane are depended in perturbation.) and SSO (Sun Synchronous Orbit)
Unlike configuration, the rising node of Walker P orbital plane of constellation is to be uniformly distributed around equator with the interval of 360deg/P
's.At each orbit plane, S satellite is that the interval with 360deg/S is equally distributed.
One advantage of Walker constellation be exactly it be full symmetric in longitudinal.Owing to rising node and declining joint
Point can cover whole equator, although this configuration does not has the function that some SSO (Sun Synchronous Orbit) constellations have, but Walker constellation passes through
Reduce inclination angle, it is achieved that the height of population concentrated area, i.e. Situations Over covers at present.The advantage that Walker constellation is maximum
One of be exactly its satellite of comprising limited quantity, and all satellites can be identified, studied, this integrity makes them
Becoming the Constellation Design configuration being easy to most analyze, therefore a lot of constellations all use Walker constellation；
Accordingly, it is considered in the case of precessional evlocity, choose two Walker constellations according to the condition that precessional evlocity is identical and mix
Close；In the case of not considering precessional evlocity, due to SSO (Sun Synchronous Orbit) constellation and the mutual supplement with each other's advantages of Walker constellation, the most preferably one SSO (Sun Synchronous Orbit)
Constellation and a Walker constellation mixing；
Step 5: according to the demand of user's service area latitude and determined by hybrid constellation configuration, selected orbit inclination angle model
Enclose；
The orbit altitude scope of the first alternative Trajectory Sets is pressed predetermined interval, and orbit inclination angle scope sets according to user's request
Fixed, in the range of this orbit altitude scope and orbit inclination angle, calculate the orbital plane under different orbit inclination angle and orbit altitude respectively
Precessional evlocity, selects some groups of orbit altitude values and orbit inclination angle value that precessional evlocity is identical；
Wherein, below equation is used to calculate the precessional evlocity in each orbit inclination angle lower railway face:
Constellation orbital face precessional evlocity；
The angular velocity of satellite on n constellation orbital；
J2Humorous term coefficient J of second order band of perturbation of earths gravitational field2=1.0826 × 10-3；
The eccentricity of satellite on e constellation orbital；
ReEarth radius；
The orbit altitude of satellite on a constellation orbital, the orbit altitude determined for step 2；
The orbit inclination angle of satellite on i constellation orbital.
For the selected some groups of orbit altitude values arrived and orbit inclination angle value, preferentially choose orbit altitude value and belong to or connect
Some groups of regression orbit height values of nearly second alternative Trajectory Sets and corresponding orbit inclination angle value；If it is alternative not meet second
The orbit altitude value of Trajectory Sets, does not the most consider the second alternative Trajectory Sets；Then step 7 is performed；
Step 6: according to the demand of user's service area latitude and determined by hybrid constellation configuration, selected orbit inclination angle model
Enclose；Preferentially choose orbit altitude value to belong to or close to some groups of regression orbit height values of the second alternative Trajectory Sets；Then hold
Row step 7；
Step 7: determine the number of satellite scope that in hybrid constellation, each constellation comprises；
In the case of covering performance is suitable, select the number of satellite of minimum number；
Constellation Design requires that the Demand Design according to coverage covers the requirement of tuple, and the quality of service can pass through star
The covering performance in this region is weighed by seat, and single star is to the coverage condition on ground as shown in Figure 2.Wherein Re is earth radius, and a is
Satellite altitude, ε is the observation elevation angle,For Satellite downwards angle of visibility.Only when satellite is higher than ε to the elevation angle of user, user's ability
Setting up contact with satellite, the earth coverage area that star downwards angle of visibility is corresponding is the area of coverage of satellite.
Star downwards angle of visibilityThe computing formula of the geocentric angle λ and covering radius r of covered ground is:
R=Reλ (6)
Due to the motion in-orbit of satellite, ground service area, also at ground moving, therefore will be produced and cover by footprint
Lid time slot and coverage gap.In order to improve the coverage rate to certain region, need multi-satellite to form constellation, rely on each satellite to mesh
Mutually having continued of mark region overlay time slot, may thereby determine that number of satellite.
Step 8: determine orbital plane number and phase factor scope；Particularly as follows: the number of satellite scope determined with step 7 is for
Know value, select orbital plane number and the phase factor scope of covering performance optimum；
Step 9: be separately optimized the initial right ascension of ascending node scope of each constellation in hybrid constellation of choosing；Concrete optimization method
For: utilize genetic algorithm optimization to choose the initial right ascension of ascending node scope of each constellation in hybrid constellation；
Step 10: when considering that precession affects, employing following methods optimum option:
Determine the satellite orbit type of each hybrid constellation, the minimum observation elevation angle, number of satellite scope, orbital plane number with
Phase factor scope, initial right ascension of ascending node scope and some compositions to orbit altitude value and orbit inclination angle value；Then:
By predetermined interval, to the minimum observation elevation angle, number of satellite scope, orbital plane number and phase factor scope, initially rise
Intersection point right ascension scope and some compositions to orbit altitude value and orbit inclination angle value be optimized and choose, calculate often to assemble and put
Low rail communication corresponding to the hybrid constellation parameter obtained and the covering performance of navigation enhancing hybrid constellation；
At the end of optimum option, perform step 11；
When not considering that precession affects, employing following methods optimum option:
Determine the satellite orbit type of each hybrid constellation, the minimum observation elevation angle, number of satellite scope, orbital plane number with
Phase factor scope, initial right ascension of ascending node scope, the second alternative Trajectory Sets and orbit inclination angle scope；Then:
By predetermined interval, to the minimum observation elevation angle, number of satellite scope, orbital plane number and phase factor scope, initially rise
Intersection point right ascension scope, the second alternative Trajectory Sets and orbit inclination angle scope are optimized and choose, and calculate often to assemble and put obtain mixed
Close the low rail communication corresponding to constellation parameter and the covering performance of navigation enhancing hybrid constellation；
At the end of optimum option, perform step 11；
Wherein, analyze SSO (Sun Synchronous Orbit) constellation and the coverage condition of Walker constellation respectively, parameter is optimized and chooses, can use
Following methods:
(1) SSO (Sun Synchronous Orbit) constellation
Assume that N satellite is uniformly distributed in a certain given orbital plane, then the angle of every satellite difference S=360/N, λ
Max is maximum earth central angle.Earth central angle is by the earth's core, points to the angle of target aircraft from subsatellite, such as Fig. 3
Shown in Fig. 4.
In same orbital plane, can intersatellite interval determine this orbital plane and cover continuously, and continuously overlay area
Width.If S > 2 is λ max, the most whole covering band is all discontinuous, as shown in Figure 5；If S < 2 is λ max, then have one with two
Line centered by satellite links, width is the narrower band of 2 λ sat, it is possible to realizing covering in real time, this band is commonly called continuously
Cover band, as shown in Figure 6.Width meets formula:
cosλsat=cos λmax/cos(S/2) (7)
In the case of such as shown in figure (S < 2 λ max), ground trace and cover circle be projected one imaginary, do not rotate
On the earth.If satellite constellation can cover the whole earth not rotated continuously, then this constellation also can cover the real earth
Whole surface, and we are also without considering whether earth rotation can affect the covering performance of constellation.But, if design
One constellation has allowed coverage gap, then we are accomplished by considering a coverage gap may causing of earth rotation then
Individual coverage gap, coverage gap may be longer than the time that can not cover continuously that we calculate in this case.
About the pattern of covering, if the satellite in adjacent orbit face is equidirectional operation, then
DmaxS=λsat+λmax (8)
If the satellite in adjacent orbit face is reverse direction operation, then
DmaxO=2 λstreet (9)
Carry this concept based on covering, design SSO (Sun Synchronous Orbit) constellation.In this constellation, there is m the orbital plane crossing polar region, each
N satellite is had, it is possible to realize the whole world and cover continuously on track.As it is shown in fig. 7, at any time, half satellite is had northwards to transport
OK, second half satellite runs southwards.In the two overlay area, meet the DmaxS that formula (8) defines respectively.In the two
Between region, due to satellite reverse direction operation, make overlay area that vacancy to occur.Therefore, for realizing covering continuously, formula is utilized
(9) DmaxO defined in can reduce the covering vacancy that reverse direction operation produces.If realizing covering continuously with m SSO (Sun Synchronous Orbit) face,
Meet:
(m+1)λstreet+(m-1)λmax>180deg (10)
The quantity of satellite is that the width carried by covering determines rather than is determined by orbit altitude.It follows that SSO (Sun Synchronous Orbit) star
The coverage of seat is with orbit altitude continuously, smoothly do not change.
(1) Walker constellation
Constellation Design requires to provide double covering to coverage, and this region can be covered by the quality of service by constellation
Lid performance is weighed, and single star is to the coverage condition on ground as shown in Figure 2.Wherein Re is earth radius, and a is satellite altitude, and ε is for seeing
Survey the elevation angle,For star downwards angle of visibility.Only when satellite is higher than ε to the elevation angle of user, user could set up contact with satellite, under star
Earth coverage area corresponding to visual angle is the area of coverage of satellite.
Star downwards angle of visibilityThe computing formula of the geocentric angle λ and covering radius r of covered ground is:
R=Reλ (6)
Due to the motion in-orbit of satellite, ground service area, also at ground moving, therefore will be produced and cover by footprint
Lid time slot and coverage gap.In order to improve the coverage rate to certain region, need multi-satellite to form constellation, rely on each satellite to mesh
Mutually having continued of mark region overlay time slot.The purpose of Constellation optimization is to use the fewest satellite resource, or defends given
Under the conditions of star number purpose, improved the performance of system by rational track configurations.
Step 11: select the hybrid constellation parameter that hybrid constellation covering performance is optimum, the mixing obtained as final design
Constellation parameter value.
In sum, the low rail communication of present invention offer and navigation strengthen the Optimization Design of hybrid constellation, fully examine
Consider low rail communication and navigation has strengthened the factor that hybrid constellation designs each stage and needs to consider, give low rail communication and navigation
Strengthen the step of Satellite Constellation Design, according to described method for designing, it is possible to design meet user's request, constellation performance is excellent, defend
Low rail communication and navigation that star number mesh is few strengthen hybrid constellation.Specifically have the advantage that
(1) in the selection course of constellation orbital height and orbit inclination angle, function and the star of hybrid constellation has been considered
The precession characteristic of seat, makes two constellations in the hybrid constellation of design have identical orbital plane precessional evlocity, thus improves constellation
Between compatibility, enable two constellation collaborative works, realize communication simultaneously and navigation strengthens two kinds of functions.
(2) system of selection of the initial right ascension of ascending node of constellation is given, it is possible to achieve two Satellites in hybrid constellation
The Interoperability that base system is optimal.
(3) Constellation Design method and constellation initial right ascension of ascending node Optimization Design have been the present invention relates to, in conjunction with logical
Letter and navigation strengthen the factor that each stage of Constellation Design needs to consider, can be designed that meet user's request, constellation performance excellent,
Number of satellite is few and has low rail communication and the navigation enhancing hybrid constellation of preferable compatible interoperation ability between constellation.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (6)
1. one kind low rail communication and navigation strengthen the Optimization Design of hybrid constellation, it is characterised in that comprise the following steps:
Step 1: the satellite orbit type determining each satellite in hybrid constellation is circuit orbit, its eccentric ratio e=0, perigee
Argument ω=0；
Step 2: primarily determine that satellite orbital altitude, including:
Step 2.1: determine the first of each satellite the alternative Trajectory Sets in hybrid constellation；Wherein, the first alternative Trajectory Sets is
Meet the orbit altitude scope of design requirement；
Step 2.2: further preferred to the first alternative Trajectory Sets, obtain by several orbit altitude values form second alternative
Trajectory Sets；
Step 3: consider the observation barrier factors that local landform causes, determines the minimum observation elevation angle according to user's request；
Step 4: judge the impact the need of consideration precession in hybrid constellation design process, when needs consider that precession affects,
According to the condition that precessional evlocity is identical, determine that hybrid constellation is configured as two Walker constellation mixing, then perform step 5；
When affecting without the concern for precession, determine that hybrid constellation is configured as Walker constellation and SSO (Sun Synchronous Orbit) constellation, then perform step
Rapid 6；
Step 5: according to the demand of user's service area latitude and determined by hybrid constellation configuration, selected orbit inclination angle scope；
The orbit altitude scope of the first alternative Trajectory Sets is set according to user's request by predetermined interval, orbit inclination angle scope,
In the range of this orbit altitude scope and orbit inclination angle, calculate the orbital plane precession under different orbit inclination angle and orbit altitude respectively
Speed, selects some groups of orbit altitude values and orbit inclination angle value that precessional evlocity is identical；
For the selected some groups of orbit altitude values arrived and orbit inclination angle value, preferentially choose orbit altitude value and belong to or close to
Some groups of regression orbit height values of two alternative Trajectory Sets and corresponding orbit inclination angle value；If not meeting the second alternative track
The orbit altitude value of set, does not the most consider the second alternative Trajectory Sets；Then step 7 is performed；
Step 6: according to the demand of user's service area latitude and determined by hybrid constellation configuration, selected orbit inclination angle scope；
Preferentially choose orbit altitude value to belong to or close to some groups of regression orbit height values of the second alternative Trajectory Sets；Then step is performed
Rapid 7；
Step 7: determine the number of satellite scope that in hybrid constellation, each constellation comprises；
Step 8: determine orbital plane number and phase factor scope；Particularly as follows: the number of satellite scope determined with step 7 is known
Value, selects orbital plane number and the phase factor scope of covering performance optimum；
Step 9: be separately optimized the initial right ascension of ascending node scope of each constellation in hybrid constellation of choosing；Concrete optimization method is:
Genetic algorithm optimization is utilized to choose the initial right ascension of ascending node scope of each constellation in hybrid constellation；
Step 10: when considering that precession affects, employing following methods optimum option:
Determine the satellite orbit type of each hybrid constellation, the minimum observation elevation angle, number of satellite scope, orbital plane number and phase place
Factor range, initial right ascension of ascending node scope and some compositions to orbit altitude value and orbit inclination angle value；Then:
By predetermined interval, to the minimum observation elevation angle, number of satellite scope, orbital plane number and phase factor scope, initial ascending node
Right ascension scope and some compositions to orbit altitude value and orbit inclination angle value be optimized and choose, calculate often to assemble to put and obtain
The low rail communication corresponding to hybrid constellation parameter and navigation strengthen hybrid constellation covering performance；
At the end of optimum option, perform step 11；
When not considering that precession affects, employing following methods optimum option:
Determine the satellite orbit type of each hybrid constellation, the minimum observation elevation angle, number of satellite scope, orbital plane number and phase place
Factor range, initial right ascension of ascending node scope, the second alternative Trajectory Sets and orbit inclination angle scope；Then:
By predetermined interval, to the minimum observation elevation angle, number of satellite scope, orbital plane number and phase factor scope, initial ascending node
Right ascension scope, the second alternative Trajectory Sets and orbit inclination angle scope are optimized and choose, and calculate often to assemble and put the mixing star obtained
The seat low rail communication corresponding to parameter and navigation strengthen the covering performance of hybrid constellation；
At the end of optimum option, perform step 11；
Step 11: select the hybrid constellation parameter that hybrid constellation covering performance is optimum, the hybrid constellation obtained as final design
Parameter value.
Low rail communication the most according to claim 1 and navigation strengthen the Optimization Design of hybrid constellation, it is characterised in that
In step 2.1, the first alternative Trajectory Sets designs by the following method and obtains:
Screen alternative track according to space radiation environment impact, obtain meeting the first alternative track collection setting orbit altitude scope
Close.
Low rail communication the most according to claim 2 and navigation strengthen the Optimization Design of hybrid constellation, it is characterised in that
Space radiation environment impact includes: radiation belt of the earth Van Allen belt, inner radiation belt a1 ∈ [2000,8000] km and outer radiation belt a2
∈[15000,20000]km；For avoiding the interference of Van Allen belt, and the constellation of design is low rail constellation, determined by first standby
Select Trajectory Sets be satellite orbital altitude scope be the set of 700～1500km.
Low rail communication the most according to claim 2 and navigation strengthen the Optimization Design of hybrid constellation, it is characterised in that
In step 2.2, the first alternative Trajectory Sets is screened further, obtain the second alternative rail being made up of several orbit altitude values
Road set, particularly as follows:
Return characteristic according to track and avoid resoance orbit requirement that the first alternative Trajectory Sets is screened further, obtaining second standby
Select Trajectory Sets.
Low rail communication the most according to claim 4 and navigation strengthen the Optimization Design of hybrid constellation, it is characterised in that
Return characteristic according to track and avoid resoance orbit requirement that the first alternative Trajectory Sets is screened further, obtaining the second alternative rail
Road set, particularly as follows:
Step 2.2.1, the recurrence condition estimation of utilization obtains recurrence number of turns n of satellite, including:
Step 2.2.1.1, according to Kepler's theorem, can obtain T satellite periodsWith orbit altitude a relation it is
Wherein, earth radius Re=6378.137km, Gravitational coefficient of the Earth μ=398601.58km3/s2；
Step 2.2.1.2, the first alternative Trajectory Sets that step 2.1 determines is orbit altitude scope, substitutes into formula (2), thus
Determine T satellite periodsScope；
Step 2.2.1.3, according to T satellite periodsWith earth rotation period TeRelation, i.e. formula (3), can obtain k/n
Span；
Ts/Te=k/n (3)
Wherein:
K is for returning natural law；
N is for returning the number of turns；
TsFor satellite period；
TeFor earth rotation period, Te=86164s；
Step 2.2.1.4, arbitrarily chooses the value of k, can be calculated the span of n, owing to k and n is integer, therefore may be used
Obtain several values of n；
Step 2.2.2, for the value of multiple n that the value of k chosen and correspondence obtain, is performed both by following operation:
Step 2.2.2.1, returns the value of the k chosen and the value inverse iteration of n to formula (3), obtains T satellite periods；
Step 2.2.2.2, by T satellite periodsSubstitute into formula (2), be calculated satellite orbital altitude a；
Therefore, choose the value of each group of k and the value of n, all can get the value of a satellite orbital altitude a；The value of different k with
And the value of the n of correspondence can be calculated multiple satellite orbital altitude, multiple regression orbit height i.e. form the second alternative track
Set.
Low rail communication the most according to claim 1 and navigation strengthen the Optimization Design of hybrid constellation, it is characterised in that
In step 5, below equation is used to calculate the precessional evlocity in each orbit inclination angle lower railway face:
Constellation orbital face precessional evlocity；
The angular velocity of satellite on n constellation orbital；
J2Humorous term coefficient J of second order band of perturbation of earths gravitational field2=1.0826 × 10-3；
The eccentricity of satellite on e constellation orbital；
ReEarth radius；
The orbit altitude of satellite on a constellation orbital, the orbit altitude determined for step 2；
The orbit inclination angle of satellite on i constellation orbital.
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| CN113515881B (en) * | 2021-03-23 | 2023-05-16 | 北京航空航天大学 | ARAIM application-oriented low-orbit satellite augmentation system constellation configuration optimization method |
| CN113644959A (en) * | 2021-07-21 | 2021-11-12 | 中国西安卫星测控中心 | Design method of sun synchronous regression orbit earth observation mixed constellation |
| CN114204974A (en) * | 2021-11-11 | 2022-03-18 | 中国人民解放军军事科学院国防科技创新研究院 | Multilayer heterogeneous constellation scheme and minimum configuration design method for low-orbit, pilot and remote system |
| CN114204974B (en) * | 2021-11-11 | 2024-04-12 | 中国人民解放军军事科学院国防科技创新研究院 | Multi-layer heterogeneous constellation scheme and minimum configuration design method for low-orbit communication, guide and remote system |
| CN115037353A (en) * | 2022-05-23 | 2022-09-09 | 北京最终前沿深空科技有限公司 | Method and device for calculating interference value of constellation system to earth station |
| CN115396010A (en) * | 2022-08-23 | 2022-11-25 | 中国空间技术研究院 | Optimal phase factor selection method for avoiding internal collision of Walker constellation |
| CN115441940B (en) * | 2022-11-10 | 2023-01-06 | 北京国电高科科技有限公司 | Paired satellite determination method, and inter-satellite communication method and device |
| CN115441940A (en) * | 2022-11-10 | 2022-12-06 | 北京国电高科科技有限公司 | Paired satellite determination method, and inter-satellite communication method and device |
| CN115622888A (en) * | 2022-12-19 | 2023-01-17 | 中国人民解放军国防科技大学 | Cross-domain fusion constellation design method based on multidisciplinary cooperation reverse optimization |
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